63 lines
2.4 KiB
XML
63 lines
2.4 KiB
XML
<launch>
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<!-- localhost definition can be omitted unless you want to override ros-root or set it as the default machine. -->
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<machine name="localhost" address="localhost" default="true" />
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<machine name="localhost-altroot" address="localhost" ros-root="/u/kwc/sf/ros/" ros-package-path="/u/kwc/sf/personalrobots/" />
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<!--
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Parameter Server parameters. You can omit the 'type' attribute if
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value is unambiguous. Supported types are str, int, double, bool.
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You can also specify the contents of a file instead using the
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'textfile' or 'binfile' attributes.
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-->
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<param name="somestring1" value="bar" />
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<!-- force to string instead of integer -->
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<param name="somestring2" value="10" type="str" />
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<param name="someinteger1" value="1" type="int" />
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<param name="someinteger2" value="2" />
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<param name="somefloat1" value="3.14159" type="double" />
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<param name="somefloat2" value="3.0" />
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<!-- you can set parameters in child namespaces -->
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<param name="wg/childparam" value="a child namespace parameter" />
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<!-- upload the contents of a file as a param -->
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<param name="configfile" textfile="$(find roslaunch)/example.launch" />
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<!-- upload the contents of a file as base64 binary as a param -->
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<param name="binaryfile" binfile="$(find roslaunch)/example.launch" />
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<!-- upload the output of a command as a param. -->
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<param name="commandoutput" command="cat "$(find roslib)/scripts/python-reserved-words.txt"" />
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<!-- Group a collection of tags. ns attribute is optional -->
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<group ns="wg">
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<!-- remap applies to all future nodes in this group -->
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<remap from="chatter" to="hello"/>
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<node name="listener" pkg="test_ros" type="listener.py" respawn="true" />
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<node name="talker1" pkg="test_ros" type="talker.py">
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<env name="ENV_EXAMPLE" value="example value" />
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<remap from="foo" to="bar"/>
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<!-- params within node tags are equivalent to ~params.
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You must set the 'name' attribute of a node to use this feature. -->
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<param name="talker_param" value="a value" />
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</node>
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<node name="talker2" pkg="test_ros" type="talker.py" />
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</group>
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<!-- import another roslaunch config file -->
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<group ns="included">
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<include file="$(find roslaunch)/example-include.launch" />
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</group>
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<!-- more compact import syntax -->
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<include ns="included2" file="$(find roslaunch)/example-include.launch" />
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</launch>
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